Question About Signs Of Bad Oxygen Sensor Jeep Cherokee

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After reading the check engine light on my jeep, i got a code of 21. It means either the downstream or upstream oxygen sensor is malfunctioning. How do i determine which it is? How difficult are they to replace?
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I have a 1996 Toyota Tercel and still get great gas mileage but my check engine light is reading PO420 and it can be an oxygen sensor or the cat.Is there anyway I can tell for sure which it would be by the signs and symptoms ...
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1995 Jeep Grand Cherokee Limited, with V-8 engine (California emissions).
I believe the O2 sensor is on the exhaust manifold. Can I change this out without having to lift the car off the ground? How difficult is this job? Thank you
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I just had the codes checked on my jeep grand and it pulled up the code for a CAMSHAFT position sensor. code P0340 it says it is defective they gave me a paper for a 96 model and it was located on the actual distributor but ...
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And how many oxygen sensors are there on a regular car?
I just read an article about oxygen sensor, it says oxygen sensor can only last 100000 miles (heated sensor). I already have 120000 miles on my 95 geo metro, how do I know whether the oxygen ...
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